Revert "Revert "Save 80B of flash and 8B of RAM and fix compiler warning:""

This reverts commit 77426b563a06a821e5d0189a6ffbea42e71027f8.

Firmware/ConfigurationStore.h

@@ -21,7 +21,7 @@ FORCE_INLINE void Config_RetrieveSettings() { Config_ResetDefault(); Config_Prin
 #endif
 
 inline uint8_t calibration_status() { return eeprom_read_byte((uint8_t*)EEPROM_CALIBRATION_STATUS); }
-inline uint8_t calibration_status_store(uint8_t status) { eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS, status); }
+inline void calibration_status_store(uint8_t status) { eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS, status); }
 inline bool calibration_status_pinda() { return eeprom_read_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA); }
 
 #endif//CONFIG_STORE_H

Firmware/Marlin.h

@@ -418,7 +418,6 @@ extern void fsensor_init();
 //estimated time to end of the print
 extern uint16_t print_time_remaining();
 extern uint8_t print_percent_done();
-static void print_time_remaining_init();
 
 #ifdef HOST_KEEPALIVE_FEATURE
 

Firmware/Marlin_main.cpp

@@ -533,8 +533,9 @@ static bool saved_extruder_relative_mode = false;
 //=============================Routines======================================
 //===========================================================================
 
-void get_arc_coordinates();
-bool setTargetedHotend(int code);
+static void get_arc_coordinates();
+static bool setTargetedHotend(int code);
+static void print_time_remaining_init();
 
 void serial_echopair_P(const char *s_P, float v)
     { serialprintPGM(s_P); SERIAL_ECHO(v); }
@@ -1910,7 +1911,6 @@ void host_keepalive() {
 void loop()
 {
 	KEEPALIVE_STATE(NOT_BUSY);
-	bool stack_integrity = true;
 
 	if ((usb_printing_counter > 0) && ((millis()-_usb_timer) > 1000))
 	{
@@ -4308,10 +4308,11 @@ void process_commands()
 		// The move to the first calibration point.
 		current_position[X_AXIS] = pgm_read_float(bed_ref_points);
 		current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
-		bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
 
 		#ifdef SUPPORT_VERBOSITY
-		if (verbosity_level >= 1) {
+		if (verbosity_level >= 1)
+		{
+		    bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
 			clamped ? SERIAL_PROTOCOLPGM("First calibration point clamped.\n") : SERIAL_PROTOCOLPGM("No clamping for first calibration point.\n");
 		}
 		#endif //SUPPORT_VERBOSITY
@@ -8989,7 +8990,7 @@ void print_world_coordinates()
 
 void print_physical_coordinates()
 {
-	printf_P(_N("physical coordinates: (%.3f, %.3f, %.3f)\n"), st_get_position_mm[X_AXIS], st_get_position_mm[Y_AXIS], st_get_position_mm[Z_AXIS]);
+	printf_P(_N("physical coordinates: (%.3f, %.3f, %.3f)\n"), st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS), st_get_position_mm(Z_AXIS));
 }
 
 void print_mesh_bed_leveling_table()

Firmware/adc.c

@@ -1,8 +1,9 @@
 //adc.c
 
 #include "adc.h"
+#include <stdio.h>
 #include <avr/io.h>
-
+#include <avr/pgmspace.h>
 
 uint8_t adc_state;
 uint8_t adc_count;
@@ -17,7 +18,7 @@ uint16_t adc_sim_mask;
 
 void adc_init(void)
 {
-	printf(("adc_init\n"));
+	printf_P(PSTR("adc_init\n"));
 	adc_sim_mask = 0x00;
 	ADCSRA |= (1 << ADPS2) | (1 << ADPS1) | (1 << ADPS0);
 	ADMUX |= (1 << REFS0);

Firmware/language.c

@@ -63,7 +63,7 @@ uint8_t lang_select(uint8_t lang)
 			if (lang_check(_SEC_LANG_TABLE))
 				if (pgm_read_dword(((uint32_t*)(_SEC_LANG_TABLE + 12))) == pgm_read_dword(((uint32_t*)(_PRI_LANG_SIGNATURE)))) //signature valid
 				{
-					lang_table = _SEC_LANG_TABLE; // set table pointer
+					lang_table = (lang_table_t*)(_SEC_LANG_TABLE); // set table pointer
 					lang_selected = lang; // set language id
 				}
 		}
@@ -138,7 +138,7 @@ uint8_t lang_get_header(uint8_t lang, lang_table_header_t* header, uint32_t* off
 	if (lang == LANG_ID_SEC)
 	{
 		uint16_t ui = _SEC_LANG_TABLE; //table pointer
-		memcpy_P(header, ui, sizeof(lang_table_header_t)); //read table header from progmem
+		memcpy_P(header, (lang_table_t*)(_SEC_LANG_TABLE), sizeof(lang_table_header_t)); //read table header from progmem
 		if (offset) *offset = ui;
 		return (header->magic == LANG_MAGIC)?1:0; //return 1 if magic valid
 	}
@@ -147,7 +147,7 @@ uint8_t lang_get_header(uint8_t lang, lang_table_header_t* header, uint32_t* off
 	lang--;
 	while (1)
 	{
-		w25x20cl_rd_data(addr, header, sizeof(lang_table_header_t)); //read table header from xflash
+		w25x20cl_rd_data(addr, (uint8_t*)(header), sizeof(lang_table_header_t)); //read table header from xflash
 		if (header->magic != LANG_MAGIC) break; //break if not valid
 		if (offset) *offset = addr;
 		if (--lang == 0) return 1;

Firmware/language.h

@@ -1,3 +1,4 @@
+/** @file */
 //language.h
 #ifndef LANGUAGE_H
 #define LANGUAGE_H
@@ -22,11 +23,14 @@
 #define STRINGIFY_(n) #n
 #define STRINGIFY(n) STRINGIFY_(n)
 
-//section progmem0 will be used for localized translated strings
+/** @def PROGMEM_I2
+ *  @brief section progmem0 will be used for localized translated strings */
 #define PROGMEM_I2 __attribute__((section(".progmem0")))
-//section progmem1 will be used for localized strings in english
+/** @def PROGMEM_I1
+ *  @brief section progmem1 will be used for localized strings in english */
 #define PROGMEM_I1 __attribute__((section(".progmem1")))
-//section progmem2 will be used for not localized strings in english
+/** @def PROGMEM_N1
+ *  @brief section progmem2 will be used for not localized strings in english */
 #define PROGMEM_N1 __attribute__((section(".progmem2")))
 
 #if (LANG_MODE == 0) //primary language only
@@ -43,7 +47,7 @@
 #define _N(s) (__extension__({static const char __c[] PROGMEM_N1 = s; &__c[0];}))
 #define _n(s) _N(s)
 
-//lang_table_header_t structure - (size= 16byte)
+/** @brief lang_table_header_t structure - (size= 16byte) */
 typedef struct
 {
 	uint32_t magic;      //+0 
@@ -54,67 +58,76 @@ typedef struct
 	uint32_t signature;  //+12
 } lang_table_header_t;
 
-//lang_table_t structure - (size= 16byte + 2*count)
+/** @brief lang_table_t structure - (size= 16byte + 2*count) */
 typedef struct
 {
 	lang_table_header_t header;
 	uint16_t table[];
 } lang_table_t;
 
-// Language indices into their particular symbol tables.
+/** @name Language indices into their particular symbol tables.*/
+///@{
 #define LANG_ID_PRI 0
 #define LANG_ID_SEC 1
+///@}
 
-// Language is not defined and it shall be selected from the menu.
+/** @def LANG_ID_FORCE_SELECTION
+ *  @brief Language is not defined and it shall be selected from the menu.*/
 #define LANG_ID_FORCE_SELECTION 254
 
-// Language is not defined on a virgin RAMBo board.
+/** @def LANG_ID_UNDEFINED
+ *  @brief Language is not defined on a virgin RAMBo board. */
 #define LANG_ID_UNDEFINED 255
 
-// Default language ID, if no language is selected.
+/** @def LANG_ID_DEFAULT
+ *  @brief Default language ID, if no language is selected. */
 #define LANG_ID_DEFAULT LANG_ID_PRI
 
-// Magic number at begin of lang table.
+/** @def LANG_MAGIC
+ *  @brief Magic number at begin of lang table. */
 #define LANG_MAGIC 0x4bb45aa5
 
-// Language codes (ISO639-1)
-#define LANG_CODE_XX 0x3f3f //'??'
-#define LANG_CODE_EN 0x656e //'en'
-#define LANG_CODE_CZ 0x6373 //'cs'
-#define LANG_CODE_DE 0x6465 //'de'
-#define LANG_CODE_ES 0x6573 //'es'
-#define LANG_CODE_IT 0x6974 //'it'
-#define LANG_CODE_PL 0x706c //'pl'
+/** @name Language codes (ISO639-1)*/
+///@{
+#define LANG_CODE_XX 0x3f3f //!<'??'
+#define LANG_CODE_EN 0x656e //!<'en'
+#define LANG_CODE_CZ 0x6373 //!<'cs'
+#define LANG_CODE_DE 0x6465 //!<'de'
+#define LANG_CODE_ES 0x6573 //!<'es'
+#define LANG_CODE_IT 0x6974 //!<'it'
+#define LANG_CODE_PL 0x706c //!<'pl'
+///@}
 
 #if defined(__cplusplus)
 extern "C" {
 #endif //defined(__cplusplus)
 
-// Currectly active language selection.
+/** @brief Currectly active language selection.*/
 extern uint8_t lang_selected;
 
 #if (LANG_MODE != 0)
 extern const char _SEC_LANG[LANG_SIZE_RESERVED];
 extern const char* lang_get_translation(const char* s);
+/** @def _SEC_LANG_TABLE
+ *  @brief Align table to start of 256 byte page */
 #define _SEC_LANG_TABLE ((((uint16_t)&_SEC_LANG) + 0x00ff) & 0xff00)
-//extern const uint32_t _PRI_LANG_SIGNATURE;
 #endif //(LANG_MODE != 0)
 
-//selects language, eeprom is updated in case of success
+/** @brief selects language, eeprom is updated in case of success */
 extern uint8_t lang_select(uint8_t lang);
-//performs checksum test of secondary language data
+/** @brief performs checksum test of secondary language data */
 extern uint8_t lang_check(uint16_t addr);
-//returns total number of languages (primary + all in xflash)
+/** @return total number of languages (primary + all in xflash) */
 extern uint8_t lang_get_count(void);
-//reads lang table header and offset in xflash or progmem
+/** @brief reads lang table header and offset in xflash or progmem */
 extern uint8_t lang_get_header(uint8_t lang, lang_table_header_t* header, uint32_t* offset);
-//reads lang code from xflash or progmem
+/** @brief reads lang code from xflash or progmem */
 extern uint16_t lang_get_code(uint8_t lang);
-//returns localized language name (text for menu item)
+/** @return localized language name (text for menu item) */
 extern const char* lang_get_name_by_code(uint16_t code);
-//reset language to "LANG_ID_FORCE_SELECTION", epprom is updated
+/** @brief reset language to "LANG_ID_FORCE_SELECTION", epprom is updated */
 extern void lang_reset(void);
-//returns 1 if language is selected
+/** @retval 1 language is selected */
 extern uint8_t lang_is_selected(void);
 
 #ifdef DEBUG_SEC_LANG

Firmware/sm4.c

@@ -3,9 +3,10 @@
 #include "sm4.h"
 #include <avr/io.h>
 #include <avr/pgmspace.h>
+#include <math.h>
+#include "Arduino.h"
 
 #include "boards.h"
-#define bool int8_t
 #define false 0
 #define true 1
 #include "Configuration_prusa.h"
@@ -191,4 +192,4 @@ uint16_t sm4_line_xyze_ui(uint16_t dx, uint16_t dy, uint16_t dz, uint16_t de)
 }
 
 
-#endif //NEW_XYZCAL
+#endif //NEW_XYZCAL

Firmware/temperature.cpp

@@ -205,6 +205,16 @@ unsigned long watchmillis[EXTRUDERS] = ARRAY_BY_EXTRUDERS(0,0,0);
 //=============================   functions      ============================
 //===========================================================================
 
+#if (defined (TEMP_RUNAWAY_BED_HYSTERESIS) && TEMP_RUNAWAY_BED_TIMEOUT > 0) || (defined (TEMP_RUNAWAY_EXTRUDER_HYSTERESIS) && TEMP_RUNAWAY_EXTRUDER_TIMEOUT > 0)
+static float temp_runaway_status[4];
+static float temp_runaway_target[4];
+static float temp_runaway_timer[4];
+static int temp_runaway_error_counter[4];
+
+static void temp_runaway_check(int _heater_id, float _target_temperature, float _current_temperature, float _output, bool _isbed);
+static void temp_runaway_stop(bool isPreheat, bool isBed);
+#endif
+
   void PID_autotune(float temp, int extruder, int ncycles)
   {
   pid_number_of_cycles = ncycles;
@@ -1473,7 +1483,7 @@ void bed_min_temp_error(void) {
     }
 #ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE
     Stop();
-#endif*/
+#endif
 }
 
 #ifdef HEATER_0_USES_MAX6675

Firmware/temperature.h

@@ -189,16 +189,6 @@ FORCE_INLINE bool isCoolingBed() {
 #error Invalid number of extruders
 #endif
 
-#if (defined (TEMP_RUNAWAY_BED_HYSTERESIS) && TEMP_RUNAWAY_BED_TIMEOUT > 0) || (defined (TEMP_RUNAWAY_EXTRUDER_HYSTERESIS) && TEMP_RUNAWAY_EXTRUDER_TIMEOUT > 0)
-static float temp_runaway_status[4];
-static float temp_runaway_target[4];
-static float temp_runaway_timer[4];
-static int temp_runaway_error_counter[4];
-
-void temp_runaway_check(int _heater_id, float _target_temperature, float _current_temperature, float _output, bool _isbed);
-void temp_runaway_stop(bool isPreheat, bool isBed);
-#endif
-
 int getHeaterPower(int heater);
 void disable_heater();
 void setWatch();

Firmware/tmc2130.cpp

@@ -876,7 +876,7 @@ void tmc2130_set_wave(uint8_t axis, uint8_t amp, uint8_t fac1000)
 	uint8_t x[3] = {255,255,255};  //X segment bounds (MSLUTSEL)
 	uint8_t s = 0;                 //current segment
 	int8_t b;                      //encoded bit value
-	uint8_t dA;                    //delta value
+    int8_t dA;                     //delta value
 	int i;                         //microstep index
 	uint32_t reg;                  //tmc2130 register
 	tmc2130_wr_MSLUTSTART(axis, 0, amp);

Firmware/uart2.c

@@ -41,7 +41,7 @@ void uart2_init(void)
 	fdev_setup_stream(uart2io, uart2_putchar, uart2_getchar, _FDEV_SETUP_WRITE | _FDEV_SETUP_READ); //setup uart2 i/o stream
 }
 
-uint8_t uart2_rx_clr(void)
+void uart2_rx_clr(void)
 {
 	rbuf_w(uart2_ibuf) = 0;
 	rbuf_r(uart2_ibuf) = 0;

Firmware/uart2.h

@@ -18,7 +18,7 @@ extern FILE _uart2io;
 
 extern void uart2_init(void);
 
-extern uint8_t uart2_rx_clr(void);
+extern void uart2_rx_clr(void);
 
 extern uint8_t uart2_rx_ok(void);
 
@@ -26,4 +26,4 @@ extern uint8_t uart2_rx_ok(void);
 #if defined(__cplusplus)
 }
 #endif //defined(__cplusplus)
-#endif //_UART2_H
+#endif //_UART2_H

Firmware/ultralcd.cpp

@@ -199,6 +199,8 @@ static const char* lcd_display_message_fullscreen_nonBlocking_P(const char *msg,
 
 /* Different menus */
 static void lcd_status_screen();
+static void lcd_language_menu();
+
 extern bool powersupply;
 static void lcd_main_menu();
 static void lcd_tune_menu();
@@ -226,6 +228,49 @@ static void lcd_menu_xyz_offset();
 static void lcd_menu_fails_stats();
 #endif //TMC2130 or PAT9125
 
+static void lcd_selftest_v();
+static bool lcd_selfcheck_endstops();
+
+#ifdef TMC2130
+static void reset_crash_det(char axis);
+static bool lcd_selfcheck_axis_sg(char axis);
+static bool lcd_selfcheck_axis(int _axis, int _travel);
+#else
+static bool lcd_selfcheck_endstops();
+static bool lcd_selfcheck_axis(int _axis, int _travel);
+static bool lcd_selfcheck_pulleys(int axis);
+#endif //TMC2130
+
+static bool lcd_selfcheck_check_heater(bool _isbed);
+static int  lcd_selftest_screen(int _step, int _progress, int _progress_scale, bool _clear, int _delay);
+static void lcd_selftest_screen_step(int _row, int _col, int _state, const char *_name, const char *_indicator);
+static bool lcd_selftest_manual_fan_check(int _fan, bool check_opposite);
+static bool lcd_selftest_fan_dialog(int _fan);
+static bool lcd_selftest_fsensor();
+static void lcd_selftest_error(int _error_no, const char *_error_1, const char *_error_2);
+static void lcd_colorprint_change();
+static int get_ext_nr();
+static void extr_adj_0();
+static void extr_adj_1();
+static void extr_adj_2();
+static void extr_adj_3();
+static void fil_load_menu();
+static void fil_unload_menu();
+static void extr_unload_0();
+static void extr_unload_1();
+static void extr_unload_2();
+static void extr_unload_3();
+static void lcd_disable_farm_mode();
+static void lcd_set_fan_check();
+static char snmm_stop_print_menu();
+#ifdef SDCARD_SORT_ALPHA
+ static void lcd_sort_type_set();
+#endif
+static float count_e(float layer_heigth, float extrusion_width, float extrusion_length);
+static void lcd_babystep_z();
+static void lcd_send_status();
+static void lcd_connect_printer();
+
 void lcd_finishstatus();
 
 static void lcd_control_retract_menu();
@@ -2737,8 +2782,8 @@ static void lcd_menu_xyz_skew()
 //|01234567890123456789|
 //|Measured skew:  N/A |
 //|--------------------|
-//|Slight skew:   0.12°|
-//|Severe skew:   0.25°|
+//|Slight skew:   0.12d|
+//|Severe skew:   0.25d|
 //----------------------
     float angleDiff = eeprom_read_float((float*)(EEPROM_XYZ_CAL_SKEW));
 	lcd_printf_P(_N(

Firmware/ultralcd.h

@@ -12,7 +12,6 @@ extern void menu_lcd_longpress_func(void);
 extern void menu_lcd_charsetup_func(void);
 extern void menu_lcd_lcdupdate_func(void);
 
-	static void lcd_language_menu();
 
   // Call with a false parameter to suppress the LCD update from various places like the planner or the temp control.
   void ultralcd_init();
@@ -39,27 +38,8 @@ extern void menu_lcd_lcdupdate_func(void);
   unsigned char lcd_choose_color();
 //void lcd_mylang();
 
-  static void lcd_selftest_v();
   extern bool lcd_selftest();
-  static bool lcd_selfcheck_endstops();
-
-#ifdef TMC2130
-  static void reset_crash_det(char axis);
-  static bool lcd_selfcheck_axis_sg(char axis);
-  static bool lcd_selfcheck_axis(int _axis, int _travel);
-#else
-  static bool lcd_selfcheck_endstops();
-  static bool lcd_selfcheck_axis(int _axis, int _travel);
-  static bool lcd_selfcheck_pulleys(int axis);
-#endif //TMC2130
-
-  static bool lcd_selfcheck_check_heater(bool _isbed);
-  static int  lcd_selftest_screen(int _step, int _progress, int _progress_scale, bool _clear, int _delay);
-  static void lcd_selftest_screen_step(int _row, int _col, int _state, const char *_name, const char *_indicator);
-  static bool lcd_selftest_manual_fan_check(int _fan, bool check_opposite);
-  static bool lcd_selftest_fan_dialog(int _fan);
-  static bool lcd_selftest_fsensor();
-  static void lcd_selftest_error(int _error_no, const char *_error_1, const char *_error_2);
+
   void lcd_menu_statistics(); 
 
   extern const char* lcd_display_message_fullscreen_P(const char *msg, uint8_t &nlines);
@@ -83,7 +63,6 @@ extern void menu_lcd_lcdupdate_func(void);
   extern void lcd_diag_show_end_stops();
 
 
-  static unsigned char blink = 0;	// Variable for visualization of fan rotation in GLCD
 
   #define LCD_MESSAGEPGM(x) lcd_setstatuspgm(PSTR(x))
   #define LCD_ALERTMESSAGEPGM(x) lcd_setalertstatuspgm(PSTR(x))
@@ -136,30 +115,11 @@ extern void menu_lcd_lcdupdate_func(void);
 
 
 void change_extr(int extr);
-static void lcd_colorprint_change();
-static int get_ext_nr();
 void extr_adj(int extruder);
-static void extr_adj_0();
-static void extr_adj_1();
-static void extr_adj_2();
-static void extr_adj_3();
-static void fil_load_menu();
-static void fil_unload_menu();
-static void extr_unload_0();
-static void extr_unload_1();
-static void extr_unload_2();
-static void extr_unload_3();
-static void lcd_disable_farm_mode();
-static void lcd_set_fan_check();
+
 void extr_unload_all(); 
 void extr_unload_used();
 void extr_unload();
-static char snmm_stop_print_menu();
-#ifdef SDCARD_SORT_ALPHA
- static void lcd_sort_type_set();
-#endif
-static float count_e(float layer_heigth, float extrusion_width, float extrusion_length);
-static void lcd_babystep_z();
 
 void stack_error();
 void lcd_printer_connected();
@@ -204,7 +164,4 @@ void lcd_language();
 void lcd_wizard();
 void lcd_wizard(int state);
 
-static void lcd_send_status();
-static void lcd_connect_printer();
-
 #endif //ULTRALCD_H

Firmware/uni_avr_rpi.h

@@ -1,5 +1,4 @@
 // unification for AVR and RPI
-#define __AVR
 
 #ifdef __AVR
 	//#include "Arduino.h"
@@ -29,3 +28,4 @@
 	void print(int v) { printf("%d", v); }
 	void print(float v) { printf("%f", v); }
 #endif //RC522_RPI
+

Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h

@@ -99,11 +99,11 @@
 #define MANUAL_FEEDRATE {2700, 2700, 1000, 100}   // set the speeds for manual moves (mm/min)
 
 //Silent mode limits
-#define SILENT_MAX_ACCEL_XY      960  // max acceleration in silent mode in mm/s^2
+#define SILENT_MAX_ACCEL_XY      960ul  // max acceleration in silent mode in mm/s^2
 #define SILENT_MAX_FEEDRATE_XY   172  // max feedrate in mm/s
 
 //Normal mode limits
-#define NORMAL_MAX_ACCEL_XY     2500  // max acceleration in normal mode in mm/s^2
+#define NORMAL_MAX_ACCEL_XY     2500ul  // max acceleration in normal mode in mm/s^2
 #define NORMAL_MAX_FEEDRATE_XY   200  // max feedrate in mm/s
 
 //number of bytes from end of the file to start check

Firmware/variants/1_75mm_MK3-MMU-EINSy10a-E3Dv6full.h

@@ -100,12 +100,12 @@
 #define MANUAL_FEEDRATE {2700, 2700, 1000, 100}   // set the speeds for manual moves (mm/min)
 
 //Silent mode limits
-#define SILENT_MAX_ACCEL  960 // max axxeleration in silent mode in mm/s^2
+#define SILENT_MAX_ACCEL  960ul // max axxeleration in silent mode in mm/s^2
 #define SILENT_MAX_ACCEL_ST (100*SILENT_MAX_ACCEL) // max accel in steps/s^2
 #define SILENT_MAX_FEEDRATE 172  //max feedrate in mm/s, because mode switched to normal for homming , this value limits also homing, it should be greater (172mm/s=9600mm/min>2700mm/min)
 
 //Normal mode limits
-#define NORMAL_MAX_ACCEL 2500 // Y-axis max axxeleration in normal mode in mm/s^2
+#define NORMAL_MAX_ACCEL 2500ul // Y-axis max axxeleration in normal mode in mm/s^2
 #define NORMAL_MAX_ACCEL_ST (100*NORMAL_MAX_ACCEL) // max accel in steps/s^2
 #define NORMAL_MAX_FEEDRATE 200  //max feedrate in mm/s, because mode switched to normal for homming , this value limits also homing, it should be greater (172mm/s=9600mm/min>2700mm/min)